The Effect of Feedback and Feedforward on Formation ISS
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Departmental Papers (MEAM)
General Robotics, Automation, Sensing and Perception Laboratory
General Robotics, Automation, Sensing and Perception Laboratory
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GRASP
feedback
feedforward
interconnected systems
multi-agent systems
multi-robot systems
stability
cascade interconnections feedback
input-to-state stability
interagent communication
leader follower formations
multiple agent systems
multiple robot systems
feedback
feedforward
interconnected systems
multi-agent systems
multi-robot systems
stability
cascade interconnections feedback
input-to-state stability
interagent communication
leader follower formations
multiple agent systems
multiple robot systems
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Abstract
A new type of stability of leader follower formations is defined, based on input-to-state stability (ISS) properties of cascade interconnections. Formation ISS links leader input to internal state of the formation and characterizes the way this input affects performance. The effect of feedforward and feedback inter-agent communication is then investigated in this framework and it is indicated how the structure of interconnections and the amount of available information can affect stability performance.
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2002-05-11
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Departmental Papers (MEAM)
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2023-05-16T22:24:24.000
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Copyright 2002 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation 2002 (ICRA 2002), Volume 4, pages 3448-3453. Publisher URL: http://ieeexplore.ieee.org/xpl/tocresult.jsp?isNumber=21828&page=1 This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.